Cerberus can be used for different legged robots ?

[bhyu0924]

Using go1 custom dataset, I checked cerberus can work pretty well. But I just found if I use different dataset from bigger robot (lets say Anymal or etc.), cerberus diverged when it starts. I believe this happened due to wrong params for different robots. Any suggestions?

Here are possible issues

1. different joint order
2. different leg length (already updated accordingly but still diverged)
3. different joint encoder and noise param.

[ShuoYangRobotics]

You have to make a new config folder as https://github.com/ShuoYangRobotics/Cerberus/tree/main/config And put your camera parameters and robot transformation parameters in it.

Moreover, the leg kinematics in Cerberus is hand coded. You may want to modify the entire kinematics as shown in https://github.com/ShuoYangRobotics/Cerberus/tree/main/src/legKinematics